/*
 * libmekaskin : a library for Meka Robotics' skin sensor.
 * Copyright (C) 2012  Meka Robotics LLC
 * 
 * This library is free software; you can redistribute it and/or
 * modify it under the terms of the GNU Lesser General Public
 * License as published by the Free Software Foundation; either
 * version 2.1 of the License, or (at your option) any later version.
 * 
 * This library is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
 * Lesser General Public License for more details.
 * 
 * You should have received a copy of the GNU Lesser General Public
 * License along with this library; if not, write to the Free Software
 * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301  USA
 */
#include "TaxelArray.h"
#include <iostream>

class TaxelHandler : public TaxelArrayObserver { 
public:
    virtual void ReadingReceived(const std::vector<uint16_t>& readings) {
        for (auto it = readings.cbegin(); it != readings.cend(); it++) {
            std::cout << (int) (*it) << " ";
        }
        std::cout << std::endl;
    }
};

int main(void)
{
    TaxelArray* ta;

    try { 
        ta = new TaxelArray("/dev/ttyUSB0");
    } catch (TaxelIOException& e) {
        std::cout << "Exception : " << e.what() << std::endl;
        return -1;
    }

    TaxelArrayObserverPtr thPtr = TaxelArrayObserverPtr(new TaxelHandler());
    ta->registerTaxelObserver(thPtr);
    
    ta->start();

    sleep(2);

    ta->stop();

    sleep(1);

    ta->start();

    sleep(2);

    return 0;
}
